CN102830403B

CN102830403B - Object detection device

Info

Publication number: CN102830403B
Application number: CN201210107928.0A
Authority: CN
Inventors: 后闲利通; 井上拓哉; 小林雅裕; 菅野健
Original assignee: Nissan Motor Co Ltd
Current assignee: Nissan Motor Co Ltd
Priority date: 2011-06-16
Filing date: 2012-04-13
Publication date: 2014-11-19
Anticipated expiration: 2032-04-13
Also published as: CN102830403A; JP5842398B2; JP2013002955A

Abstract

An object detection device of the present invention is used to restrain deviations in obstacle detections by using a plurality of ultrasonic object detection sections. When four ultrasonic object detection sections (CRL, CNL, CNR, CRR) which are disposed at approximately equal intervals are driven so as to cover a whole lengthwise-direction region of a fender-guard section (11), the ultrasonic object detection sections are driven in an order from a left-end or a right-end, for example, from the left-end ultrasonic object detection section to the central section, and then from the right-end ultrasonic object detection section to the central section, i.e., the ultrasonic object detection sections are driven in the order of CRL, CNL, CNR, CRR. The ultrasonic object detection sections CNL and CNR are secondly driven after the left-end and the right end sections are driven, and thus the obstacle detection for the vicinity of a central part of a driving lane are performed for fixed period through the ultrasonic object detection sections CNL and CNR.

Description

Article detection device

Technical field

The present invention relates to receive to carry out by carrying out hyperacoustic transmission the article detection device for vehicle of object detection.

Background technology

As the bumper portion of detecting vehicle everywhere method around, proposed to configure at bumper rear portion a plurality of ultrasound wave object detection assemblies, by the obstacle detector of these a plurality of ultrasound wave object detection component detection barriers in the past.As this class obstacle detector, for example proposed a plurality of ultrasound wave object detection assemblies often select alternately and be categorized as two groups (group), make not have noisy device between ultrasound wave object detection portion.; when the detection of barrier; in a group, simultaneously or often next has sequentially switched and carries out hyperacoustic output and receive from the ultrasound wave object detection assembly of the reflection wave of barrier reflection; in another group simultaneously or often next sequentially switches ultrasound wave object detection assembly (for example,, with reference to patent documentation 1) similarly.

[prior art document]

[patent documentation]

[patent documentation 1] JP 2006-298266 communique

Summary of the invention

The problem that invention will solve

But, in the method in the past of recording at patent documentation 1, have following problem.That is, in each ultrasound wave object detection assembly, with fixed intervals, carry out object detection.But, the in the situation that in group, every next sequentially switching ultrasound wave object detection assembly, from carry out the detection viewpoint of (timing) regularly of a plurality of ultrasound wave object detection assemblies of object detection near bumper center, near carry out a plurality of ultrasound wave object detection assemblies of object detection bumper center detection regularly departs from.Therefore, near detection bumper center regularly, produce deviation.

Therefore, the present invention is conceived to above-mentioned open question in the past and completes, and its object is, provides a plurality of ultrasound wave object detection assemblies not produce interference, and can suppress to detect the article detection device of deviation regularly.

For solving the scheme of problem

To achieve these goals, in article detection device of the present invention, at vehicle front or rear, in overall width direction, there are four above ultrasound wave object detection portions, switch one at a time these a plurality of ultrasound wave object detection portions that drives.Now, ultrasound wave object detection portion is sequentially driven to central ultrasound wave object detection portion from the ultrasound wave object detection portion of one end of row, from the ultrasound wave object detection portion of the other end of row, to central ultrasound wave object detection portion, sequentially drive.Repeat this driving.

Invention effect

According to the present invention, the last driving when near the ultrasound wave object detection portion central portion of row is driven the one end from row and the last driving while driving from the other end, the detection that can suppress near the barrier central portion of row regularly departs from.

Accompanying drawing explanation

Fig. 1 means the block scheme of the structure of article detection device of the present invention.

Fig. 2 means the allocation position of ultrasound wave object detection portion and the key diagram of its sensing range.

Fig. 3 means the block scheme of the structure of this information of vehicles acquisition unit and object detection portion.

Fig. 4 means the process flow diagram of the treatment step that a routine detection of obstacles judgement is processed.

Fig. 5 is the figure that the determination methods that whether has the object outside driving path is described.

Fig. 6 means the sequential chart (time chart) of actuation step of the ultrasound wave object detection portion of the 1st embodiment.

Fig. 7 means the sequential chart of the driving order of ultrasound wave object detection portion in the past.

Fig. 8 means the allocation position of ultrasound wave object detection portion and the key diagram of its sensing range of the 2nd embodiment.

Fig. 9 means the sequential chart of driving order of the ultrasound wave object detection portion of the 2nd embodiment.

Figure 10 means the allocation position of ultrasound wave object detection portion and the key diagram of its sensing range of the 3rd embodiment.

Figure 11 means the sequential chart of driving order of the ultrasound wave object detection portion of the 3rd embodiment.

Figure 12 means the allocation position of ultrasound wave object detection portion and the key diagram of its sensing range of the 4th embodiment.

Figure 13 means the sequential chart of driving order of the ultrasound wave object detection portion of the 4th embodiment.

Figure 14 is for the key diagram of the action of the 5th embodiment is described.

Figure 15 means the key diagram of sensing range of the indirect detection assembly of the 6th embodiment.

Figure 16 means the process flow diagram of the treatment step that the detection of obstacles judgement of an example the 6th embodiment is processed.

Figure 17 means the sequential chart of driving order of the ultrasound wave object detection portion of the 6th embodiment.

Label declaration

1 article detection device

2 wheel speed sensors

3 file location sensors

4 acceleration transducers

5 steering angle sensors

6 ultrasound wave article detection devices

7 information of vehicles acquisition units

8 object detection portions

61 ultrasound wave object detection portions

Embodiment

Below, embodiments of the present invention are described.

(the 1st embodiment)

First, the 1st embodiment is described.

(structure)

Fig. 1 means the block scheme of the schematic configuration of article detection device 1 of the present invention.This article detection device 1 is the device that detects the object of rear view of vehicle.

As shown in Figure 1, article detection device 1 comprises: wheel speed sensors 2; File location sensor 3; Acceleration transducer 4; Steering angle sensor 5; Ultrasound wave article detection device 6; This information of vehicles acquisition unit 7; And object detection portion 8.

Wheel speed sensors 2, file location sensor 3, acceleration transducer 4, steering angle sensor 5 output to detection signal this information of vehicles acquisition unit 7 separately.

As shown in Figure 2, ultrasound wave article detection device comprise from a side's of the bumper portion 11 of vehicle rear end until the opposing party's end overall width direction previous column four ultrasound wave object detection portions 61 configuring.Specifically, the left and right end portions in bumper portion 11, configuration CRL and CRR are as ultrasound wave object detection portion 61, and near the end configuration CNL that takes back the slightly central authorities of bumper portion 11 is as ultrasound wave object detection portion 61; Near taking over slightly end configuration CNR central portion is as ultrasound wave object detection portion 61, by these ultrasound wave object detection portions with cover bumper portion 11 longitudinal direction region-wide, configure to space approximate equality.

In Fig. 2, using the travelling during boundary line of the left and right of dotted line 12 and 13 traveling lanes 14 as this vehicle, the ultrasound wave object detection CRL of portion of left end is made as sensing range by the region in the outside of the boundary line 12 of travelling that comprises region that traveling lane takes back and left side.Near the ultrasound wave object detection CNL of portion arranging that takes back central portion is made as sensing range by the region of the boundary line 12 of travelling that comprises the left one side of something of traveling lane and left side.Near the ultrasound wave object detection CNR of portion taking over central portion is made as sensing range by the region of the boundary line 13 of travelling that comprises the right one side of something of traveling lane and right side.The ultrasound wave object detection CRR of portion on right side is made as sensing range by the region in the outside of the boundary line 13 of travelling that comprises region that traveling lane takes over and right side.

Each ultrasound wave object detection CRL of portion, CNL, CRR, CNR are subject to object detection portion 8 to drive control, from the timing of object detection portion 8 indications, are producing ultrasound wave, in the timing that receives its reflection wave, object detection portion 8 are notified to the reception of reflection waves.

As shown in Figure 3, this information of vehicles acquisition unit 7 comprises: this vehicle speed operational part 21; This vehicle mobile distance calculating unit 22; File location test section 23; Acceleration-deceleration test section 24; Steering angle test section 25; And this information of vehicles efferent 26.

This vehicle speed operational part 21, from the wheel speed sensors 2 inputs wheel speed signal corresponding with wheel speed and based on this this vehicle speed of wheel speed signal computing, outputs to this information of vehicles efferent 26 by this operation result.

This vehicle mobile distance calculating unit 22, from wheel speed sensors 2 input wheel speed signal the displacement based on this wheel speed signal computing this vehicle corresponding with wheel speed, outputs to this information of vehicles efferent 26 by this operation result.

File location test section 23, from the file location sensor 3 input file location signal corresponding with file location, is determined file location based on this file location detection signal, and determined file location is outputed to this information of vehicles efferent 26.

Acceleration-deceleration test section 24, from the acceleration transducer 4 input acceleration signal corresponding with the acceleration producing at this vehicle, based on this acceleration signal determination of acceleration, and outputs to this information of vehicles efferent 26 by determined acceleration.

Steering angle test section 25 is inputted the steering angle signal corresponding with the rotational angle of steering wheel from steering angle sensor 5, the steering angle of the steering wheel based on this this vehicle of steering angle signal computing, and operation result is outputed to this information of vehicles efferent 26.

This information of vehicles efferent 26, from this vehicle speed operational part 21, this vehicle mobile distance calculating unit 22, file location test section 23, acceleration-deceleration test section 24 and the various signals of steering angle test section 25 input, outputs to object detection portion 8 by them.

Object detection portion 8 forms such as the arithmetic processing section 8a and the information presentation device 8b that consist of microcomputer etc.

Arithmetic processing section 8a is from the various information of this information of vehicles efferent 26 input, based on them, carrying out detection of obstacles judgement processes, order drives each ultrasound wave object detection CRL of portion, CNL, CRR, the CNR that forms ultrasound wave article detection device 6, and having or not based on this detection signal inspected object.In addition, arithmetic processing section 8a controls information presentation device 8b when detecting object, such as by giving the alarm or carrying out picture disply etc., driver's notice being existed to object.

(concrete steps that detection of obstacles judgement is processed)

Then the treatment step that the detection of obstacles judgement of, being carried out by object detection portion 8 with reference to the flowchart text of Fig. 4 is processed.

In object detection portion 8, first, in step S1, from this information of vehicles efferent 26, obtain various information of vehicles.

Then, transfer to step S2, for example, disclosed in Unexamined Patent 7-6291, be used as this vehicle speed, yaw rate (yaw rate) and the steering angle of the movement information acquisition of this vehicle to estimate the driving path of this vehicle.

Then, transfer to step S3, judge whether to permit ultrasound wave output.

Specifically, in the situation that the file location of obtaining from this information of vehicles efferent 26 for example for P gear (range), is judged as that vehicle maintains halted state, ultrasound wave output is made as and is disapproved.In addition, for example, in the situation that this vehicle speed obtaining from this information of vehicles efferent 26 is more than the regulation speed of a motor vehicle (20km/h), travelling with the speed of a certain scope, driver does not have the meaning of stopping to this vehicle, that is, there is no need to detect rear object and ultrasound wave output is made as and is disapproved.Similarly, in this car displacement of time per unit, be threshold value when above, or acceleration is threshold value when first-class, driver does not have the meaning of stopping yet and ultrasound wave output is made as and is disapproved.

And, be output as while disapproving being judged as ultrasound wave, directly finish detection of obstacles judgement and process.

On the other hand, in license ultrasound wave when output, from step S3, transfer to step S4, determine driven ultrasound wave object detection portion.

The prediction driving path of this judgement based on estimating in step S2 carries out.That is,, if prediction driving path is straight-line travelling path, select all four ultrasound wave object detection portions.On the other hand, the in the situation that of right turn or left steering, in four ultrasound wave object detection portions, determine that its sensing range compares the ultrasound wave object detection portion that departs from certain setting above (for example, 80%) with the prediction driving path of this vehicle.And, determine that remaining ultrasound wave object detection portion except this definite ultrasound wave object detection portion is as wanting driven ultrasound wave object detection portion.

For example, in advance for the sensing range separately of four ultrasound wave object detection portions, detect to compare with prediction driving path in sensing range and depart from the steering angle of setting when above.Then, based on steering angle with advance, retreat etc., determine the ultrasound wave object detection portion that sensing range departs from.

And, based on prediction driving path, after having determined the ultrasound wave object detection portion that will drive, transfer to step S5, drive determined ultrasound wave object detection portion.The driving of this ultrasound wave object detection portion, according to the driving order of predefined ultrasound wave object detection portion, selects ultrasound wave object detection portion successively, carries out hyperacoustic sending and receiving processing.After discuss the driving order of this ultrasound wave object detection portion.

Then, transfer to step S6, when all not detecting object by any one ultrasound wave object detection portion,, when not receiving reflection wave, turn back to step S1, again obtain this information of vehicles, estimate the driving path (step S2) of this vehicle.Then, if can ultrasound wave the state of output, again the prediction driving path based on this vehicle determine whether also can output ultrasonic wave (step S3).And, when the hyperacoustic generation of license, transfer to step S4, prediction driving path based on this vehicle is determined driven ultrasound wave object detection portion, and order drives determined ultrasound wave object detection portion and carries out hyperacoustic transmission reception (step S5).

And when detecting reflection wave by any one ultrasound wave object detection portion (step S6), from ultrasound wave object detection portion output ultrasonic wave to the time receiving till reflection wave, computing is apart from the distance (step S7) of barrier.

Then, transfer to step S8, use the distance apart from barrier obtaining from the detection signal of one or more ultrasound wave object detection portion to estimate the position of barrier.And then according to the prediction driving path of this vehicle estimated in the position of estimated barrier and step S2, the barrier that obtains in step S7 of judgement is object in the traveling lane of prediction driving path of this vehicle or the object outside traveling lane.

This judgement is for example carried out according to the following steps.First, the detection signal based on ultrasound wave object detection portion carries out the position computing of barrier.Now, in the situation that by adjacent ultrasound wave object detection portion or near a plurality of ultrasound wave object detection portion such as ultrasound wave object detection portion detect, the detection signal based on a plurality of ultrasound wave object detection portion carries out position computing.Like this, by the detection signal based on a plurality of ultrasound wave object detection portion, carry out position computing, can improve position detection accuracy.

In addition, object in traveling lane or the judgement outside traveling lane, is used the ultrasound wave object detection portion of end and near the detection information of the ultrasound wave object detection portion it to carry out.Because object is required precision in traveling lane or in the judgement outside traveling lane, so use the detection information of a plurality of ultrasound wave object detection portion to judge it is effective.Especially, owing to sequentially driving ultrasound wave object detection portion according to putting in order, can be nigh dwindle mistiming regularly of detection of the detection information of same object between ultrasound wave object detection portion, so can further improve position detection accuracy.

Here, as described above, the ultrasound wave object detection CRR of portion of right-hand member is made as sensing range by the right-hand member side of travelling boundary line 13 and comprising traveling lane on right side and the region in traveling lane outside that clip traveling lane.In addition the ultrasound wave object detection CNR of portion that, bumper central authorities take over by comprising the right one side of something of traveling lane, the region that how much comprises traveling lane exterior domain is made as sensing range.

In the outside of the right-hand member of traveling lane, whether have the judgement of barrier, the detection signal based on the ultrasound wave object detection CNR of portion and CRR both sides judges.

Here, as shown in Figure 5, be made as a1 being contained in the ultrasound wave object detection CNR of portion and CRR both sides' sensing range and the region outside traveling lane.In addition, in the sensing range of the ultrasound wave object detection CRR of portion, by remove the ultrasound wave object detection CNR of portion sensing range region and near region vehicle is made as a2, remaining region is made as to a3.

Region a2, to the extremely near scope of vehicle, is the region comprising in traveling lane and outside traveling lane.Region a3 is in the region outside the traveling lane that only CRR of ultrasound wave object detection portion detects, the region of having removed region a1 and a2, and a2 compares with region, is apart from vehicle region far away.

And, from Fig. 5 also, region a2 is the detectable region of the CRR of ultrasound wave object detection portion only, there are situation in traveling lane and the situation outside traveling lane, but for fear of the situation that is positioned at traveling lane is judged as to situation about being positioned at outside traveling lane by mistake, in the a2 of region, exist the situation of barrier to judge as being the barrier in all traveling lanes.

In addition, it is the region that clips region a1 and be present in traveling lane outside that region a3 compares traveling lane, so be judged as barrier, is present in outside traveling lane.In addition, region a1 is included in the ultrasound wave object detection CNR of portion, CRR both sides' sensing range, so the detection signal based on the ultrasound wave object detection CNR of portion, CRR both sides is determined the position of barrier.And, by contrasting with the prediction driving path of estimating, judge whether barrier is present in the outside of traveling lane.

With same step, also can judge for left end side.

Then, in step S8, when being judged as barrier and being present in outside traveling lane, or the detection information of ultrasound wave object detection portion is not enough, can not be present in the situation in traveling lane by disturbance in judgement thing, turns back to step S1.

On the other hand, in step S8, during barrier in being judged as YES the traveling lane of this vehicle, transfer to step S9, by the distance apart from barrier obtaining in step S7 and being compared by the detected distance apart from barrier of identical ultrasound wave object detection portion before 1 cycle, for example, the difference by the distance apart from barrier in the detected distance apart from barrier of identical ultrasound wave object detection portion and this sense cycle before 1 cycle be setting with interior (for example, during 15cm (centimetre) scope in), being judged as this detection of twice is the identical barrier of continuous detecting, and think that the possibility of error detection is low, determine and detect barrier.

; detection distance before 1 cycle is being made as to L_z; detection distance in this detection is around made as L; in the distance that detected this vehicle mobile in the time till this detects from last time, be made as Δ X; when afore mentioned rules value is made as Dth; when meeting following formula (1), be defined as detecting barrier.

|(L_z-ΔX)-L|≤Dth ......(1)

Afore mentioned rules value Dth is for example made as 15cm.That is, the processing time of each ultrasound wave object detection portion, while being for example made as 25msec (millisecond), in the situation that having four ultrasound wave object detection portions, was the moment before 100msec before 1 cycle.Consider the movement of barrier, be for example made as barrier and be with 5km/h (kilometer/hour) mobile barrier, 5km/h * 100msec=13.88cm.Therefore, setting Dth is for example made as 15cm.Have, setting also can at random set so that it meets above-mentioned formula (1) again.

And 8b gives the alarm by control information suggestion device, be there is to barrier in driver's notice.

On the other hand, the distance apart from barrier obtaining in step S7 and the difference by the detected distance apart from barrier of ultrasound wave object detection portion before 1 cycle are judged as not in setting time and are not barrier, do not give the alarm especially etc. and finish this processing.

(the driving order of ultrasound wave object detection portion)

Below, the driving of the ultrasound wave object detection portion in above-mentioned steps S5 is described sequentially.

Fig. 6 means the sequential chart of the driving order of the ultrasound wave object detection portion in the situation as shown in Figure 2 with four ultrasound wave object detection portions.

These ultrasound wave object detection portions, from the ultrasound wave object detection portion of either party end, left and right, to central ultrasound wave object detection portion, sequentially drive, then, from the ultrasound wave object detection portion of the opposing party's end, to central ultrasound wave object detection portion, sequentially drive.That is, first for example drive the ultrasound wave object detection CRL of portion of bumper portion left end, the ultrasound wave object detection CNL of portion that then take back slightly in drive ratio bumper center.Then drive the ultrasound wave object detection CRR of portion of bumper portion right-hand member, the order of following the ultrasound wave object detection CNR of portion to take over slightly than bumper center drives.

(action)

Below, the action in the situation that ultrasound wave object detection portion is driven is as described above described.

In Fig. 6, the processing time that drives a ultrasound wave object detection portion be t1 (for example, 25msec).And, in order reciprocally not produce interference between ultrasound wave object detection portion, switch the ultrasound wave object detection portion that per interval t1 drives, until drive the processing of all ultrasound wave object detection portions to finish, as 1 cycle in ultrasound wave object detection cycle.

That is, as shown in Figure 6, at moment m1, drive the 1st ultrasound wave object detection CRL of portion, then at moment m2, drive the ultrasound wave object detection CNL of portion, at moment m3, drive the ultrasound wave object detection CRR of portion, at moment m4, drive the ultrasound wave object detection CNR of portion.Then, until the driving that finishes the ultrasound wave object detection CNR of portion at moment m5 becomes 1 cycle in ultrasound wave object detection cycle.

As shown in Figure 6, by the order of CRL, CNL, CRR, CNR, repeat to drive each ultrasound wave object detection portion.Therefore, each ultrasound wave object detection portion drove with the fixed cycle.And when two ultrasound wave object detection CNL of portion that are conceived to exist in bumper central authorities partially and CNR, in 1 cycle in above-mentioned ultrasound wave object detection cycle, the ultrasound wave object detection CNL of portion and CNR alternately drive with the fixed cycle respectively.; from carrying out the viewpoint of detection of obstacles for three regions of bumper left end, bumper central authorities, bumper right-hand member; detection of obstacles is carried out with the ultrasound wave object detection cycle in the region of bumper left end, bumper right-hand member; and in the region of bumper central authorities; by two ultrasound wave object detection CNL of portion and CNR, carry out detection of obstacles with fixed cycle (t2) of 1/2 in ultrasound wave object detection cycle.

Here, for example as shown in Figure 7 in the past, in the situation that four ultrasound wave object detection portions are repeated to drive with every order of CRL, CNR, CNL, CRR alternately, each ultrasound wave object detection portion drives with the fixed cycle respectively.But, from carrying out the viewpoint of the trizonal detection of obstacles of bumper left end, bumper central authorities, bumper right-hand member, as shown in Figure 7, the ultrasound wave object detection CNR of portion and the CNL that in the region of bumper central authorities, carry out detection of obstacles, the ultrasound wave object detection CNL of portion is driven after the ultrasound wave object detection CNR of portion.Therefore, detection of obstacles is carried out with the ultrasound wave object detection cycle in the region of bumper left end, bumper right-hand member, but for the region of bumper central authorities, in 1 cycle in ultrasound examination cycle, the driving timing of the ultrasound wave object detection CNR of portion, CNL departs from.That is, the detection of obstacles of bumper middle section is not carried out with the fixed cycle, and detects with the timing departing from.

That is, as shown in Figure 7, the detection of obstacles of bumper middle section, detects by the ultrasound wave object detection CNR of portion at moment m11, then at moment m12, by the ultrasound wave object detection CNL of portion, detects.Then, the ultrasound wave object detection CRR of portion (m13 constantly), CRL (m14 constantly) are driven, then, at moment m15, by the ultrasound wave object detection CNR of portion, detect, and in the moment, m16 detects by CNL.That is, will detect the ultrasound wave object detection CRR of portion and the CRL continuous drive in the region of bumper left end and bumper right-hand member, will detect the ultrasound wave object detection CNL of portion, the CNR continuous drive of bumper middle section.

Here, the ultrasound wave object detection CNR of portion by detecting bumper middle section is detected after (m12 constantly), and by the ultrasound wave object detection CNL of portion, detected required time between the timing of (m13 constantly) and be made as t3 (for example 25msec).Detected (m13 constantly) by the ultrasound wave object detection CNL of portion after, until detect (m16 constantly) required time by the ultrasound wave object detection CNR of portion, be the t4 (for example 75msec) longer than above-mentioned t3.

Therefore, detect being spaced apart t3 and than the t4 of t3 length, carrying out detection of obstacles with the timing departing from of the ultrasound wave object detection CNL of portion of bumper middle section and the detection of the ultrasound wave object detection CNR of portion timing.

That is, the detection of obstacles of bumper middle section is carried out with the timing departing from.

To this, as shown in Figure 6, in the situation that each ultrasound wave object detection portion is driven with the order of CRL, CNL, CRR, CNR, as mentioned above, by the ultrasound wave object detection CNL of portion and CNR, the detection of bumper middle section for example, was carried out with the fixed cycle (t2: 50msec).Therefore, can carry out termly the detection of obstacles of bumper central authorities, can drive expeditiously ultrasound wave object detection portion, can improve the accuracy of detection of barrier.

In addition, in order to detect the position of barrier, used a side of the detection signal of a plurality of ultrasound wave object detection portion, estimated accuracy improves.Especially, the region that the sensing range of the ultrasound wave object detection CNR of portion and CRR comprises, the outside that is present in the boundary line of travelling of traveling lane due to the positional information judgement from barrier is still present in inner side, so expectation quality is wanted height.And in order to improve the estimated accuracy of position, the mistiming of the detection information that expectation is obtained by the ultrasound wave object detection CRR of portion and CNR is little.This is also same for the ultrasound wave object detection CNL of portion and CRL.

As shown in Figure 6, in the situation that each ultrasound wave object detection portion is driven with the order of CRL, CNL, CRR, CNR, the adjacent ultrasound wave object detection CRR of portion and CNR are by continuous drive, for example, so the mistiming t5 (25msec) of the detection information being obtained by the ultrasound wave object detection CRR of portion and CNR is smaller.

To this, as shown in Figure 7, in the situation that every alternately with the order driving of CRL, CNR, CNL, CRR, between the ultrasound wave object detection CNR of portion and CRR, drive the ultrasound wave object detection CNL of portion.Therefore, the poor t6 of generation time (for example 50msec) in the detection information of the ultrasound wave object detection CNR of portion and CRR.That is, the elongated time that is equivalent to drive the ultrasound wave object detection CNL of portion of mistiming.

As shown in Figure 6, order with CRL, CNL, CRR, CNR drives each ultrasound wave object detection portion,, first in a side end side, from the ultrasound wave object detection portion of end, to the ultrasound wave object detection portion of central authorities sequentially drives partially, in the opposing party's end side, from the ultrasound wave object detection portion of end, to the ultrasound wave object detection portion of central authorities partially, sequentially drive.By such driving, near the adjacent a plurality of ultrasound wave object detection portion continuous drive that can comprise as surveyed area the boundary line of travelling of traveling lane.Therefore, can suppress the mistiming from the detection signal of a plurality of ultrasound wave object detection portion comprising as surveyed area near the boundary line of travelling of traveling lane.Its result, can improve the position detection accuracy of barrier.

In addition, four ultrasound wave object detection portions are sequentially started to central authorities from the ultrasound wave object detection portion of any one end, left and right, from the ultrasound wave object detection portion of the other end, to central authorities, sequentially drive.Therefore, near the driving timing that is configured in the ultrasound wave object detection CNL of portion, CNR bumper central part becomes respectively situation last of last, driving from right-hand member side of the situation of driving from left end side, all becomes by the 2nd and drives.That is, be configured in bumper central part neighbouring the ultrasound wave object detection CNL of portion, CNR is driven by the 2nd separately the situation of the situation of driving and driving from right-hand member side respectively from left end side.Therefore, can with the fixed cycle, carry out near detection of obstacles bumper central part by being configured near the ultrasound wave object detection CNL of portion bumper central part and CNR.

Here, in above-mentioned the 1st embodiment, the arithmetic processing section 8a of object detection portion 8 is corresponding to drive control part.

In addition, the processing of the step S8 of Fig. 4 is corresponding to Obstacle Position estimator, and the processing of step S2 is corresponding to driving path prediction section.

(effect of the 1st embodiment)

(1), in object detection portion 8, four ultrasound wave object detection portions are sequentially started to central authorities from the ultrasound wave object detection portion of any one end, left and right, from the ultrasound wave object detection portion of the other end, to central authorities, sequentially drive.That is, the order with the ultrasound wave object detection CRL of portion, CNL, CRR, CNR drives.

Its result, is configured in the ultrasound wave object detection CNL of portion and CNR near bumper central part, finally being driven respectively of the situation of the situation of driving from left end and driving from right-hand member, all by the 2nd, is driven.Therefore, can with the fixed cycle, carry out near detection of obstacles bumper central part by being configured near the ultrasound wave object detection CNL of portion bumper central part and CNR.

(2), in object detection portion 8, from end, sequentially drive ultrasound wave object detection portion.

Therefore, can shorten the mistiming that detects the detection information in the situation of same barrier with adjacent a plurality of ultrasound wave object detection portion.Its result, can improve the position detection accuracy of barrier.

(3) the detection information of the ultrasound wave object detection portion based on end and near the ultrasound wave object detection portion it is object in traveling lane or the judgement of the object outside traveling lane.As mentioned above, owing to can shortening the mistiming of the detection information between ultrasound wave object detection portion nearby, so can more whether be the judgement of the object outside traveling lane.

(the 2nd embodiment)

Below, the 2nd embodiment is described.

(structure)

The 2nd embodiment, except in above-mentioned the 1st embodiment, the number of ultrasound wave object detection portion is different, beyond the driving order difference of ultrasound wave object detection portion, with above-mentioned the 1st embodiment be same, so to the additional same label of a part, omit its detailed explanation.

Fig. 8 means the figure of allocation position of the ultrasound wave object detection portion of the 2nd embodiment.

The ultrasound wave article detection device 6 of the 2nd embodiment comprises three ultrasound wave object detection portions 61.These three ultrasound wave object detection portions 61 are arranged at bumper portion 11 as illustrated in fig. 8, and the ultrasound wave object detection CRL of portion is arranged at bumper portion left end.The ultrasound wave object detection CRR of portion is arranged at bumper portion right-hand member.The ultrasound wave object detection CN of portion is arranged at bumper central authorities.

The ultrasound wave object detection CN of portion is as illustrated in fig. 8 by the region-wide sensing range that is made as of the traveling lane of this vehicle.The ultrasound wave object detection CRL of portion is made as sensing range by the region of travelling boundary line 12 and comprising traveling lane outside that clips left side of the left one side of something of traveling lane that comprises this vehicle.The ultrasound wave object detection CRR of portion is made as sensing range by the region of travelling boundary line 13 and comprising traveling lane outside that clips right side of the right one side of something of traveling lane that comprises this vehicle.

(the driving order of ultrasound wave object detection portion)

Below, the driving of ultrasound wave object detection portion is described sequentially.

Fig. 9 means the sequential chart of the driving order of the ultrasound wave object detection portion in the situation that comprises as shown in Figure 8 three ultrasound wave object detection portions.

In the 2nd embodiment, also from the ultrasound wave object detection portion of any one end, left and right to three ultrasound wave object detection portions of center driven, then from the ultrasound wave object detection portion of the other end to three ultrasound wave object detection portions of center driven.

That is, first for example drive the ultrasound wave object detection CRL of portion of left end, then, drive arrangements is at the central ultrasound wave object detection CN of portion.Then drive the ultrasound wave object detection CRR of portion of right-hand member, then drive the central ultrasound wave object detection CN of portion.After, repeat this processing.

(action)

As shown in Figure 9, at moment m21, drive after the ultrasound wave object detection CRL of portion, at moment m22, drive the ultrasound wave object detection CN of portion, at moment m23, drive the ultrasound wave object detection CRR of portion.So far it was 1 cycle.Then, in the 2nd cycle, at moment m24, driven after the ultrasound wave object detection CN of portion, with the order of the ultrasound wave object detection CRL of portion, the ultrasound wave object detection CN of portion, driven.Then, in the 3rd cycle, at moment m25, driven after the ultrasound wave object detection CRR of portion, driven the ultrasound wave object detection CN of portion, the ultrasound wave object detection CRL of portion.And then in the 4th cycle, at moment m26, driven after the ultrasound wave object detection CN of portion, drive the ultrasound wave object detection CRR of portion, the ultrasound wave object detection CN of portion.Then, next cycle and the 1st cycle are same, at moment m27, drive the ultrasound wave object detection CRL of portion, then drive the ultrasound wave object detection CN of portion, after, similarly repeat with above-mentioned.

Here, as shown in Figure 9, ultrasound wave object detection portion is driven with the order of CRL, CN, CRR, CN.Therefore, each ultrasound wave object detection portion drove with the fixed cycle.And, if having in mind, be present in the ultrasound wave object detection CN of portion of bumper central authorities, for example, with the fixed cycle (t7: 50msec), drive.That is,, if from carrying out the viewpoint of the trizonal detection of obstacles of bumper left end, bumper central authorities, bumper right-hand member, detection of obstacles is carried out with the fixed cycle (t7 ') in the region of bumper left end, bumper right-hand member.In addition,, in the region of bumper central authorities, carry out detection of obstacles with in the detection of obstacles cycle than the region of bumper left end or right-hand member in (t7 ') the short cycle (t7).That is,, in the region of bumper central authorities, carry out detection of obstacles with the fixed cycle in the region 1/2 with respect to bumper left end, bumper right-hand member.

In addition the ultrasound wave object detection CRL of portion of continuous drive bumper left end and the ultrasound wave object detection CN of portion of bumper central authorities, and the ultrasound wave object detection CN of portion of continuous drive bumper central authorities and the ultrasound wave object detection CRR of portion of bumper left end.The mistiming of the detection information in the time of therefore, can reducing to detect same barrier with adjacent two ultrasound wave object detection portions (CRL and CN, or CRR and CN) (t8: for example 25msec).

Therefore, this situation is also same with above-mentioned the 1st embodiment, can carry out the detection of obstacles in the region of bumper central authorities with the fixed cycle.Therefore, by driving expeditiously ultrasound wave object detection portion, the accuracy of detection of barrier can be improved, the position detection accuracy of barrier can be improved simultaneously.

Here, in above-mentioned the 2nd embodiment, the arithmetic processing section 8a of object detection portion 8 is corresponding to drive control part.

(effect of the 2nd embodiment)

(1) in object detection portion 8, the ultrasound wave object detection portion from one end, left and right, to central authorities, sequentially start three ultrasound wave object detection portions, then from the ultrasound wave object detection portion of the other end, to central authorities, drive, and situation about driving from left end at this moment, and drive the ultrasound wave object detection portion of identical number from right-hand member driving situation.That is, after having driven the ultrasound wave object detection CRL of portion of left end, drive the central ultrasound wave object detection CN of portion, then, after having driven the ultrasound wave object detection CRR of portion of right-hand member, again drive the central ultrasound wave object detection CN of portion.

Therefore, the ultrasound wave object detection CN of portion of central authorities is driven after having driven the ultrasound wave object detection portion of left end or right-hand member.Its result, can drive the central ultrasound wave object detection CN of portion with the fixed cycle.That is, can carry out near detection of obstacles bumper central part with the fixed cycle.

(2) in object detection portion 8, the ultrasound wave object detection CRL of portion of continuous drive left end and the central ultrasound wave object detection CN of portion, in addition, the ultrasound wave object detection CRR of portion of continuous drive right-hand member and the central ultrasound wave object detection CN of portion.

Therefore, can shorten the mistiming that detects the detection information in the situation of same barrier with adjacent ultrasound wave object detection portion.Its result, can improve the position detection accuracy of barrier.

(the 3rd embodiment)

Below, the 3rd embodiment is described.

(structure)

The 3rd embodiment, except in above-mentioned the 1st embodiment, the number of ultrasound wave object detection portion is different, beyond the driving order difference of ultrasound wave object detection portion, with above-mentioned the 1st embodiment be same, so to the additional same label of a part, omit its detailed explanation.

Figure 10 means the figure of allocation position of the ultrasound wave object detection portion of the 3rd embodiment.

The ultrasound wave article detection device 6 of the 3rd embodiment comprises five ultrasound wave object detection portions 61.These five ultrasound wave object detection portions 61 as shown in Figure 10 with the arranged spaced of approximate equality in bumper portion 11.

The ultrasound wave object detection CRL of portion is arranged on bumper portion left end.The ultrasound wave object detection CRR of portion is arranged on bumper portion right-hand member.The ultrasound wave object detection CN of portion is arranged on central authorities of bumper portion.The ultrasound wave object detection CNL of portion is arranged between the ultrasound wave object detection CRL of portion and CN.The ultrasound wave object detection CNR of portion is arranged between the ultrasound wave object detection CRR of portion and CN.

The ultrasound wave object detection CN of portion is made as sensing range by the central region of the traveling lane of this vehicle as shown in Figure 10.The ultrasound wave object detection CRL of portion is made as sensing range by the region of travelling boundary line 12 and comprising traveling lane outside and inner side that clips the traveling lane left side of this vehicle.The ultrasound wave object detection CRR of portion by clip this vehicle traveling lane right side travel boundary line 13 and comprise traveling lane outside and traveling lane inside region be made as sensing range.The ultrasound wave object detection CNL of portion is made as sensing range by the region of the boundary line 12 of travelling in the region that comprises the left one side of something of traveling lane and left side.The ultrasound wave object detection CNR of portion is made as sensing range by the region of the boundary line 13 of travelling on the region that comprises the right one side of something of traveling lane and right side.

(the driving order of ultrasound wave object detection portion)

Figure 11 means the sequential chart of the driving order of the ultrasound wave object detection portion in the situation that comprises as shown in Figure 10 five ultrasound wave object detection portions.

In the 3rd embodiment, also from the ultrasound wave object detection portion of any one end, left and right to five ultrasound wave object detection portions of center driven, then from the ultrasound wave object detection portion of the other end to five ultrasound wave object detection portions of center driven.

That is, first for example drive the ultrasound wave object detection CRL of portion of left end, then drive the ultrasound wave object detection CNL of portion, then drive arrangements, at the central ultrasound wave object detection CN of portion, is made as a subregion here.That is, after having driven the ultrasound wave object detection CN of portion, with its non-conterminous ultrasound wave object detection CRR of portion that drives right-hand member, then drive the ultrasound wave object detection CNR of portion, then drive the central ultrasound wave object detection CN of portion, be made as a subregion here.After, repeat this processing.

(action)

As shown in figure 11, at moment m31, drive the ultrasound wave object detection CRL of portion of left end, at moment m32, drive the ultrasound wave object detection CNL of portion, at moment m33, drive the central ultrasound wave object detection CN of portion.Then at moment m34, drive the ultrasound wave object detection CRR of portion, be 1 cycle till moment m35 drives the ultrasound wave object detection CNR of portion.Then, in the next cycle, at moment m36, drive the central ultrasound wave object detection CN of portion, at the ultrasound wave object detection CRL of portion of next left end of m37 driving constantly, after, to drive with above-mentioned same order.

Here, as shown in figure 11, ultrasound wave object detection portion is driven with the order of CRL, CNL, CN, CRR, CNR.Therefore, with the fixed cycle, drive each ultrasound wave object detection portion.And, if having in mind, be present in the ultrasound wave object detection CN of portion of bumper central authorities, for example, with the fixed cycle (t9: 75msec), drive the ultrasound wave object detection CN of portion.; if from carrying out the viewpoint of the trizonal detection of obstacles of bumper left end, bumper central authorities, bumper right-hand member; with respect to the region of bumper left end, bumper right-hand member, with the fixed cycle (t9 '), carry out detection of obstacles; in the region of bumper central authorities; in situation about driving from left end side with from the last driving ultrasound wave object detection CN of portion of the situation of right-hand member side drive, so carry out detection of obstacles with in the detection of obstacles cycle than in the region of bumper left end, bumper right-hand member (t9 ') the short fixed cycle (t9).

In addition, so the adjacent ultrasound wave object detection portion that continuous drive surveyed area is overlapping, for example, the mistiming of the detection information in the time of can reducing to detect same barrier with two adjacent ultrasound wave object detection portions (t10: 25msec).Therefore, this situation is also same with above-mentioned the 1st embodiment, can carry out termly the detection of obstacles in the region of bumper central authorities.Therefore, can drive expeditiously ultrasound wave object detection portion, can improve the accuracy of detection of barrier, can improve the position detection accuracy of barrier simultaneously.

Here, in above-mentioned the 3rd embodiment, the arithmetic processing section 8a of object detection portion 8 is corresponding to drive control part.

(effect of the 3rd embodiment)

(1) in object detection portion 8, the ultrasound wave object detection portion from left end, to central authorities, with the order of CRL, CNL, CN, drive five ultrasound wave object detection portions, then from the ultrasound wave object detection portion of right-hand member, to central authorities, with the order of CRR, CNR, CN, drive.

Therefore, the ultrasound wave object detection CN of portion of central authorities is finally driven the situation from left end side and right-hand member side drive, by the 3rd, is driven.Its result, can drive the central ultrasound wave object detection CN of portion with the fixed cycle,, can carry out near detection of obstacles bumper central part with the fixed cycle that is.

(2), in object detection portion 8, from left and right end portions, to central authorities, sequentially drive ultrasound wave object detection portion.Therefore, can shorten the mistiming that detects the detection information in the situation of same barrier with adjacent ultrasound wave object detection portion.Its result, can improve the position detection accuracy of barrier.

(the 4th embodiment)

Below, the 4th embodiment is described.

(structure)

The 4th embodiment, except in above-mentioned the 1st embodiment, the number of ultrasound wave object detection portion is different, beyond the driving order difference of ultrasound wave object detection portion, with above-mentioned the 1st embodiment be same, so to the additional same label of a part, omit its detailed explanation.

Figure 12 means the figure of allocation position of the ultrasound wave object detection portion 61 of the 4th embodiment.

The ultrasound wave article detection device 6 of the 4th embodiment comprises six ultrasound wave object detection portions 61.These six ultrasound wave object detection portions 61 as shown in Figure 12 with approximate equality be arranged in bumper portion 11.The ultrasound wave object detection CRL of portion is arranged on bumper portion left end.The ultrasound wave object detection CRR of portion is arranged on bumper portion right-hand member.The ultrasound wave object detection CNL of portion is arranged on bumper central authorities and takes back slightly.The ultrasound wave object detection ICRL of portion is arranged between the ultrasound wave object detection CRL of portion and CNL.The ultrasound wave object detection CNR of portion is arranged on bumper central authorities and takes over slightly.The ultrasound wave object detection ICRR of portion is arranged between the ultrasound wave object detection CRR of portion and CNR.

The region of the part that the ultrasound wave object detection CNL of portion takes back the traveling lane that comprises this vehicle as shown in Figure 12 is slightly made as sensing range, and the ultrasound wave object detection CNR of portion is made as sensing range by the region of the part taking over slightly of the traveling lane that comprises this vehicle.The region of the region that the ultrasound wave object detection ICRL of portion takes back the traveling lane that comprises this vehicle and the boundary line 12 of travelling is made as sensing range.The region of the region that the ultrasound wave object detection ICRR of portion takes over the traveling lane that comprises this vehicle and the boundary line 13 of travelling is made as sensing range.The ultrasound wave object detection CRR of portion is made as sensing range by the region that clips the traveling lane right-hand member of this vehicle and travel boundary line 13 and the outside on right side.

(the driving order of ultrasound wave object detection portion)

Figure 13 means the sequential chart of the driving order of the ultrasound wave object detection portion in the situation that comprises as shown in Figure 12 six ultrasound wave object detection portions.

In the 4th embodiment, also from the ultrasound wave object detection portion of any one end, left and right, to central authorities, sequentially drive, then from the ultrasound wave object detection portion of the other end, to central authorities, sequentially drive.

That is, as shown in figure 13, drive the ultrasound wave object detection CRL of portion, the ICRL adjacent with it, the CNL that bumper central authorities take back of bumper portion left end.Then, the order with the ultrasound wave object detection CRR of portion of bumper portion right-hand member, the ICRR adjacent with it, CNR that bumper central authorities take over drives.

(action)

As shown in figure 13, in moment m41, drive the ultrasound wave object detection CRL of portion of left end, at moment m42, drive the next ultrasound wave object detection ICRL of portion, the ultrasound wave object detection CNL of portion that drives central authorities to take back at moment m43.Then, driving the ultrasound wave object detection CRR of portion of right-hand member at moment m44, at moment m45, drive the ultrasound wave object detection ICRR of portion, was 1 cycle at moment m46 till the ultrasound wave object detection CNR of portion that drives central authorities to take over finishes.

As shown in figure 13, ultrasound wave object detection portion is repeated to drive with the order of CRL, ICRL, CNL, CRR, ICRR, CNR.Therefore, with the fixed cycle (t11 '), drive each ultrasound wave object detection portion.And, if have in mind, be present in bumper central authorities neighbouring the ultrasound wave object detection CNL of portion, CNR, near bumper central portion, by the ultrasound wave object detection CNL of portion and CNR, for example, with the fixed cycle shorter than the ultrasound wave object detection cycle (t11 ') (t11: 75msec), carry out detection of obstacles.

In addition, the adjacent ultrasound wave object detection portion that continuous drive surveyed area is overlapping, for example, so the mistiming of the detection information in the time of can reducing to detect same barrier with two adjacent ultrasound wave object detection portions (t12: 25msec), can improve accuracy of detection.Therefore, this situation is also same with above-mentioned the 1st embodiment, can carry out termly the detection of obstacles in the region of bumper central authorities.Therefore, can drive expeditiously ultrasound wave object detection portion, can improve the accuracy of detection of barrier, can improve the position detection accuracy of barrier simultaneously.

Therefore,, in this 4th embodiment, also can obtain the action effect same with above-mentioned the 1st embodiment.

Here, in above-mentioned the 4th embodiment, the arithmetic processing section 8a of object detection portion 8 is corresponding to drive control part.

(effect of the 4th embodiment)

(1) in object detection portion 8, the ultrasound wave object detection portion from any one end, left and right, to central authorities, drive six ultrasound wave object detection portions, then from the ultrasound wave object detection portion of the other end, to central authorities, drive.That is, the order with the ultrasound wave object detection CRL of portion, ICRL, CNL, CRR, ICRR, CNR drives.

Be configured near the ultrasound wave object detection CNL of portion bumper central part and CNR situation about driving from left end side and finally driven from the situation of right-hand member side drive, and all by the 3rd, driven.Its result, can carry out near detection of obstacles bumper central part with the fixed cycle by being configured near the ultrasound wave object detection CNL of portion bumper central part and CNR.

(2) from any one end, left and right, to central authorities, sequentially drive ultrasound wave object detection portion.Therefore, can shorten the mistiming that detects the detection information in the situation of same barrier with adjacent a plurality of ultrasound wave object detection portion.Its result, can improve the position detection accuracy of barrier.

(the 5th embodiment)

Below, the 5th embodiment is described.

(structure)

The 5th embodiment and above-mentioned the 1st embodiment are same, comprise four ultrasound wave object detection portions 61.

As shown in Figure 2 above, at the driving path of prediction while being straight-line travelling path, the ultrasound wave object detection CRL of portion of left end is made as sensing range by the region in the outside of the boundary line 12 of travelling that comprises region that traveling lane takes back and left side.Near the ultrasound wave object detection CNL of portion arranging that takes back central portion is made as sensing range by the region of the boundary line 12 of travelling that comprises the left one side of something of traveling lane and left side.Near the ultrasound wave object detection CNR of portion arranging that takes over central portion is made as sensing range by the region of the boundary line 13 of travelling that comprises the right one side of something of traveling lane and right side.The ultrasound wave object detection CRR of portion on right side is made as sensing range by the region in the outside of the boundary line 13 of travelling that comprises region that traveling lane takes over and right side.

And, in object detection portion 8, in the sensing range of the situation of crooked route etc., ultrasound wave object detection portion, with respect to the traveling lane of this vehicle of prediction, departed from setting when above, do not drive this ultrasound wave object detection portion, and only drive remaining ultrasound wave object detection portion to carry out detection of obstacles.

(action)

Below, the action when sensing range that ultrasound wave object detection portion is described has departed from respect to the traveling lane of this vehicle of prediction that setting is above.

In the situation that the prediction driving path of this vehicle is estimated as detour, as shown in figure 14, the sensing range of the traveling lane of each ultrasound wave object detection portion skew relatively.

In this case, in the processing of the step S4 of Fig. 4, from the relation between the prediction driving path of this vehicle and the sensing range of each ultrasound wave object detection portion, in ultrasound wave object detection portion, determine the ultrasound wave object detection portion in the above traveling lane for this vehicle of setting (80%) outside of its sensing range.And, do not drive determined ultrasound wave object detection portion, and only drive remaining ultrasound wave object detection portion.

For example, as shown in figure 14, in the driving path of turning right, the sensing range of the ultrasound wave object detection CRL of portion of bumper portion left end is that major part departs from traveling lane.In the region of departing from this traveling lane, be setting when above, do not drive the ultrasound wave object detection CRL of portion, only drive remaining three ultrasound wave object detection CNL of portion, CNR, CRR.

And, in the situation that driving three ultrasound wave object detection portions, according to the driving in situation in above-mentioned the 2nd embodiment, that comprise three ultrasound wave object detection portions, sequentially drive.That is, the ultrasound wave object detection CNR of portion that central authorities of bumper portion are taken over regards the ultrasound wave object detection portion that is positioned at bumper center as, and the ultrasound wave object detection CNL of portion that central authorities of bumper portion are taken back regards the ultrasound wave object detection portion of left end as.Then, according to the order of Fig. 9, drive the ultrasound wave object detection CNL of portion, CNR, CRR.That is, the order with the ultrasound wave object detection CNL of portion (corresponding CRL), CNR (corresponding CN), CRR, CNR (corresponding CN) drives.

And, if the prediction driving path of this vehicle shifts as straight-line travelling state, the overlapping region of the sensing range of the ultrasound wave object detection CRL of portion of driven left end and traveling lane does not become large, and the region that the sensing range of the ultrasound wave object detection CRL of portion departs from traveling lane diminishes than setting.At this constantly, the ultrasound wave object detection CRL of portion also becomes driven object, after, according to the sequential chart of Fig. 6 of above-mentioned the 1st embodiment, drive four ultrasound wave object detection portions.

Like this, by not driving the major part of sensing range, be the ultrasound wave object detection portion of traveling lane exterior domain, can avoid driving unnecessary ultrasound wave object detection portion.In addition, be equivalent to not drive the part of unnecessary ultrasound wave object detection portion, can drive with cycle faster other ultrasound wave object detection portion.Therefore, the timing of the detection of obstacles of other ultrasound wave object detection portions increases, so can carry out reliably detection of obstacles.

Here, in above-mentioned the 5th embodiment, the arithmetic processing section 8a of object detection portion 8 is corresponding to drive control part.

(effect of the 5th embodiment)

In the prediction driving path of this vehicle, in a plurality of ultrasound wave object detection portion, when existence is included as the ultrasound wave object detection portion in the region outside traveling lane more than setting in sensing range, do not drive this ultrasound wave object detection portion, only drive remaining ultrasound wave object detection portion.Therefore, can avoid driving unnecessary ultrasound wave object detection portion, and increase the number of times of the remaining ultrasound wave object detection of driving portion, so can carry out reliably detection of obstacles.

(variation)

Have again, in the 5th embodiment, the situation that comprises four ultrasound wave object detection portions has been described, but has been not limited to this, so long as comprise that the situation of a plurality of ultrasound wave object detection portion can be suitable for.Key is, in a plurality of ultrasound wave object detection portion, when the overlapping region between this sensing range and the traveling lane predicted is less than setting, do not drive corresponding ultrasound wave object detection portion.In addition, for example, in the situation that for more anxious detour situation etc. does not drive a plurality of ultrasound wave object detection portion, similarly determine sequentially to drive driving order based on this with only driving the situation of remaining ultrasound wave object detection portion.

(the 6th embodiment)

Below, the 6th embodiment is described.

(structure)

The structure of the 6th embodiment, except in above-mentioned the 1st embodiment, is same beyond the driving method difference of ultrasound wave object detection portion 61, so omit with a part of detailed description.

In the 6th embodiment, as shown in figure 15, when driving ultrasound wave object detection portion, outside barrier is present in traveling lane, and this barrier is present in the situation in the sensing range of near two ultrasound wave object detection CNL of portion central authorities of bumper portion or CNR, object detection portion 8 implements indirect detection by the ultrasound wave object detection CNL of portion and CNR and drives and process.

When barrier is not present in outside traveling lane, even or barrier is present in the situation outside traveling lane, also be that this barrier is present in the situation outside the sensing range of near two ultrasound wave object detection CNL of portion central authorities of bumper portion or CNR, same with above-mentioned the 1st embodiment, with the step shown in the sequential chart of Fig. 6, order drives ultrasound wave object detection portion.

(concrete steps that detection of obstacles judgement is processed)

Below, the treatment step that the detection of obstacles judgement of the 6th embodiment of being carried out by object detection portion 8 with reference to the flowchart text of Figure 16 is processed.Have again, the additional same numeral for the treatment of step same section that the detection of obstacles with above-mentioned Fig. 4 is processed, and description is omitted.

In object detection portion 8, from this information of vehicles efferent 26, obtain various information of vehicles (step S1), estimate the driving path (step S2) of this vehicle, judge whether to permit ultrasound wave output (step S3) simultaneously.

When being judged as ultrasound wave output disapproving in step S3, directly finish detection of obstacles judgement and process, and export and determine driven ultrasound wave object detection portion (step S4) in a plurality of ultrasound wave object detection portion when licensed at ultrasound wave.

Then, transfer to step S11, judge whether indirect detection sign F described later is set to F=1.If indirect detection sign is not F=1, transfer to step S5, determine the ultrasound wave object detection portion that drive and drive them, when not receiving reflection wave, turn back to step S1, when any one ultrasound wave object detection portion detects reflection wave therein, computing is apart from the distance (step S7) of barrier.

Then, use the distance apart from barrier obtaining from the detection signal of one or more ultrasound wave object detection portion, disturbance in judgement thing is object or the object outside traveling lane (step S8) in the traveling lane of prediction driving path of this vehicle.Then, the in the situation that being present in traveling lane, barrier turns back to step S1 can not be judged as.

On the other hand, in step S8, while detecting barrier in or beyond the traveling lane of this vehicle, transfer to step S12, judge whether detected barrier is present in traveling lane.Then, in the time of within barrier is present in traveling lane, transfer to step S9, judge can be defined as barrier with the same detected barrier of step of above-mentioned embodiment 1.

On the other hand, in step S12, in the time of outside barrier is present in traveling lane, transfer to step S11, indirect detection sign F is set as after F=1, turn back to step S1.

And, in step S11, when being set to F=1, indirect detection sign F transfers to step S14 from step S11, select successively and drive each ultrasound wave object detection portion.The indirect detection of now, carrying out the ultrasound wave object detection CNL of portion and the CNR to drive as the indirect detection assembly for carrying out hyperacoustic transmission by a ultrasound wave object detection portion, carrying out ultrasound wave reception by another ultrasound wave object detection portion drives to be processed.Then, transfer to step S6.

Figure 17 means and carries out the sequential chart that indirect detection drives the driving timing of the ultrasound wave object detection portion in situation about processing.

In this indirect detection drives, also same with above-mentioned the 1st embodiment, ultrasound wave object detection portion is sequentially driven to central authorities from the ultrasound wave object detection portion of any one end, left and right, from the ultrasound wave object detection portion of the other end, to central authorities, sequentially drive.That is, for example, first from the ultrasound wave object detection CRL of portion of left end, to central authorities, sequentially drive, then from the ultrasound wave object detection CRR of portion of right-hand member, to central authorities, sequentially drive.

That is, first, the ultrasound wave object detection CRL of portion that drives left end at moment m51, carries out hyperacoustic transmission reception.Then, at moment m52, drive the indirect detection assembly being formed by the ultrasound wave object detection CNL of portion and CNR.That is, at moment m52, drive the ultrasound wave object detection CNL of portion and make it send ultrasound wave, drive the ultrasound wave object detection CNR of portion simultaneously and receive the hyperacoustic reflection wave being sent by the ultrasound wave object detection CNL of portion.

Then, at moment m53, drive the ultrasound wave object detection CRR of portion of right-hand member and carry out hyperacoustic transmission reception.Then at moment m54, drive indirect detection assembly, and drive the ultrasound wave object detection CNR of portion and make it send ultrasound wave, drive the ultrasound wave object detection CNL of portion simultaneously and make it receive ultrasound wave.

(action)

Below, the action of above-mentioned the 6th embodiment is described.

As shown in figure 15, for example, in the situation that there is barrier in the right outside side of the traveling lane of this vehicle, the sensing range of the ultrasound wave object detection CNR of portion is the region of travelling boundary line 13 and comprising the right one side of something of traveling lane outside traveling lane that clips the right side of traveling lane, so the ultrasound wave object detection CNR of portion detects the barrier outside traveling lane.

As shown in figure 15, in the situation that the inner side of the traveling lane of this vehicle and outside two sides exist barrier, in the sensing range of the ultrasound wave object detection CNR of portion, there is barrier outside traveling lane and the barrier in traveling lane.Therefore, in the situation that the reflection wave being received by the ultrasound wave object detection CNR of portion corresponding to either party of the barrier outside traveling lane and the barrier in traveling lane, is all difficult to obtain the reflection wave of the opposing party's barrier.That is, in the situation that corresponding to the barrier outside traveling lane, be difficult to obtain the reflection wave corresponding to the barrier in traveling lane.

But, as shown in the sequential chart of Figure 17, at traveling lane, there is barrier outward, and this barrier is present in the situation near the sensing range of the ultrasound wave object detection CNL of portion, CNR of the barrier track central portion of the traveling lane that detects this vehicle, and the ultrasound wave object detection CNL of portion and CNR are driven as indirect detection assembly.Thus, the sensing range a15 of the ultrasound wave object detection CNL of portion and CNR only can be located in traveling lane as shown in Figure 15.Therefore, can avoid the ultrasound wave object detection CNR of portion to detect and be present in the barrier outside traveling lane.Therefore, the ultrasound wave object detection CNL of portion and CNR can be moved for the detection of obstacles in traveling lane, even in the situation that traveling lane exists barrier outward, also can avoid the accuracy of detection of the barrier in traveling lane to decline.

In addition, in the situation that by the ultrasound wave object detection CNL of portion and CNR for the detection of obstacles in traveling lane and move, do not carry out the detection of the barrier outside the traveling lane of the ultrasound wave object detection CNR of portion.Therefore, the sensing range of the ultrasound wave object detection CRR of portion of right-hand member is the region that clips travel boundary line and the traveling lane outside of traveling lane.Therefore, even in the situation that by the ultrasound wave object detection CNR of portion as the detection of obstacles in traveling lane and move, also can proceed the detection of obstacles in traveling lane outside.Have again, in the situation that there is barrier in the left side of traveling lane, the ultrasound wave object detection CNL of portion and CNR are driven as indirect detection assembly.

Here, in above-mentioned the 6th embodiment, the arithmetic processing section 8a of object detection portion 8 is corresponding to drive control part.

In addition, the processing of the step S8 of Figure 16 is corresponding to Obstacle Position estimator, and the processing of step S2 is corresponding to driving path prediction section.

In addition, the ultrasound wave object detection CNR of portion is corresponding to the 1st ultrasound wave object detection portion, and the ultrasound wave object detection CNL of portion is corresponding to the 2nd ultrasound wave object detection portion.

(effect of the 6th embodiment)

When traveling lane is detected barrier outward, the ultrasound wave object detection CNL of portion and CNR near traveling lane central authorities drive as indirect detection assembly, only in traveling lane as sensing range.

Therefore, can suppress to carry out the reflection wave of the barrier outside near the ultrasound wave object detection CNL of portion near the detection of obstacles of traveling lane central authorities, that traveling lane central authorities are and CNR reception traveling lane.Its result, even there is the situation of barrier outward at traveling lane, also can suppress the decline of the accuracy of detection of the barrier in traveling lane.

(variation)

Have, above-mentioned the 6th embodiment has illustrated the situation that comprises four ultrasound wave object detection portions, but is not limited to this again, even the situation of ultrasound wave object detection portion more than comprising five also can be suitable for.

In addition needn't necessarily mutual adjacent ultrasound wave object detection portion be driven as indirect detection assembly.For example, in the situation that comprising more than four ultrasound wave object detection portion, also can not mutual adjacent ultrasound wave object detection portion, but a ultrasound wave object detection portion is clipped to middle mutual two ultrasound wave object detection portions of adjacent ultrasound wave object detection portion, as indirect detection assembly, drive.

In addition, above-mentioned each embodiment illustrated in the bumper portion 11 of rear view of vehicle and configured the situation of ultrasound wave object detection portion, but is not limited to this, even configure the situation of a plurality of ultrasound wave object detection portion in the bumper portion of vehicle front, is also suitable for.

In addition, above-mentioned each embodiment has illustrated the situation that comprises 3～6 ultrasound wave object detection portions, but is not limited to this, even comprise that the situation of seven above ultrasound wave object detection portions is also suitable for.

In addition,, in above-mentioned each embodiment, illustrated in situation about driving from left end side and from the situation of right-hand member side drive, driven respectively the situation of the ultrasound wave object detection portion of identical number, but being not limited to this.For example, the a lot of situation of number in ultrasound wave object detection portion, for example comprise in the situation of 15, even at every turn from 6 of left end side, repeat to drive from 7 of right-hand member sides, also the deviation of drive cycle that is positioned at the ultrasound wave object detection portion of middle position can be suppressed to sizable degree.Therefore, the unnecessary number of situation about driving from left end and the ultrasound wave object detection portion that will drive from the situation of right-hand member side drive that makes is entirely identical number.

By the ultrasound wave object detection portion of the one end from row, be urged to the number of the ultrasound wave object detection portion that will drive between central ultrasound wave object detection portion, be urged to the ultrasound wave object detection portion number that will drive between central ultrasound wave object detection portion and be made as the situation of identical number with the ultrasound wave object detection portion of the other end from row, can eliminate efficiently the deviation of the drive cycle of the ultrasound wave object detection portion that is positioned at middle position.

In addition, in above-mentioned each embodiment, the situation that has configured ultrasound wave object detection portion in the bumper portion 11 of rear view of vehicle has been described, but has been not limited to this, even it is also applicable to configure the situation of a plurality of ultrasound wave object detection portion in the bumper portion of vehicle front.In addition situation about being directly configured in the body shell part above bumper portion, is not limited to bumper portion, even also can be suitable for.

Claims

1. an article detection device, is characterized in that, comprising:

A plurality of ultrasound wave object detection portion, at vehicle front or rear, the configuration of overall width direction previous column ground is more than four; And

Drive control part, switches a ground at every turn and drives this ultrasound wave object detection portion,

Described drive control part, repeat described a plurality of ultrasound wave object detection portion is sequentially driven to central ultrasound wave object detection portion from the ultrasound wave object detection portion of one end of described row, from the ultrasound wave object detection portion of the other end of described row, to central ultrasound wave object detection portion, sequentially drive.

2. article detection device as claimed in claim 1, is characterized in that,

When described ultrasound wave object detection portion is four, repeat after described a plurality of ultrasound wave object detection portion is sequentially driven to a distolateral ultrasound wave object detection portion that is equivalent to the described row two ultrasound wave object detection portions of described row central authorities from the ultrasound wave object detection portion of one end of described row, from the ultrasound wave object detection portion of the other end of described row, to the ultrasound wave object detection portion that is equivalent to the other end of the described row two central ultrasound wave object detection portions of described row, sequentially drive.

3. as claim 1 or article detection device claimed in claim 2, it is characterized in that,

Described a plurality of ultrasound wave object detection portion is configured in the bumper portion of vehicle,

Described article detection device also comprises:

Obstacle Position estimator, the detection information of the ultrasound wave object detection portion based on end and the ultrasound wave object detection portion adjacent with this ultrasound wave object detection portion, estimates there is barrier in which side in inner side, boundary line and outside of travelling.

4. article detection device as claimed in claim 3, is characterized in that,

The ultrasound wave object detection portion adjacent with the ultrasound wave object detection portion of described end is the ultrasound wave object detection portion in region in travel boundary line inner side and outside that comprises the traveling lane of this vehicle in sensing range.

5. article detection device as claimed in claim 1, is characterized in that,

Described article detection device comprises that the movement based on this vehicle predicts the driving path prediction section of driving path,

The sensing range that described drive control part is determined ultrasound wave object detection portion is relatively by the ultrasound wave object detection portion more than threshold value of having left of the traveling lane of the driving path of described driving path prediction section prediction, in described a plurality of ultrasound wave object detection portion, drives the ultrasound wave object detection portion except described definite ultrasound wave object detection portion.

6. article detection device as claimed in claim 1, is characterized in that,

Described drive control part enforcement is that the first ultrasound wave object detection portion drives as transmission ultrasound wave and the indirect detection that the second ultrasound wave object detection portion drives as reception reflection wave of another ultrasound wave object detection portion near two ultrasound wave object detection portions described central authorities is driven to processing by a ultrasound wave object detection portion near two ultrasound wave object detection portions central authorities.

7. article detection device as claimed in claim 6, is characterized in that,

When described drive control part detects barrier in the outside, boundary line of travelling of the traveling lane of this vehicle, implement described indirect detection and drive processing.

8. article detection device as claimed in claim 6, is characterized in that,

Described the first ultrasound wave object detection portion comprises first of traveling lane the travel inner side of boundary line and the region in outside in its sensing range,

Described the second ultrasound wave object detection portion comprises and is configured in described first second region of inner side of travelling boundary line of boundary line on the opposition side of described the first ultrasound wave object detection portion of travelling in its sensing range.